公开(公告)号：EP1442848A3

公开(公告)日：2006-09-13

申请号：EP04250500.8

申请日：2004-01-29

申请人： FANUC LTD

发明人： Oda, Masaru ,  Tamura, Toshinari

IPC分类号： B25J15/00 ,  B25J9/16 ,  G06T1/00

CPC分类号： B25J9/1697 ,  B25J15/00 ,  G05B2219/40053

摘要： An object taking-out apparatus for taking out objects (13) randomly stacked in a container (11) according to a condition of how each object is placed, which includes a robot hand (3) having telescopic means (32) and a coupling member (31) whose one ends are connected to a robot arm end (10), and holding means (35) coupled to their other ends. The telescopic means (32) expands and contracts to cause the holding means (35) to assume either a first orientation where a small angle (θ1) is formed or a second orientation where a large angle (θ2) is formed between a holding direction axis (A) of the holding means (35) and a rotary axis (B) of the robot arm end (10), thereby taking out objects (13) without causing interaction between the robot (1) and the container (11).